However, the law firm representing the accuser, who is now 23, said in a statement on his behalf: "He wants it to be known that his sexual relationship with Mr Clash was an adult consensual relationship. He will have no further comment on the matter."

Clash, who always strongly denied the claims, had taken a leave of absence from Sesame Street following the accusation.

He told the New York Times through a spokesperson: "I am relieved that this painful allegation has been put to rest. I will not discuss it further."

Sesame Workshop - the non-profit organisation behind Sesame Street - added: "We are pleased that this matter has been brought to a close, and we are happy that Kevin can move on from this unfortunate episode."